CN115416815A

CN115416815A - Unmanned ship who berths automatically based on wisdom traffic

Info

Publication number: CN115416815A
Application number: CN202210949127.2A
Authority: CN
Inventors: 王芳; 杨丽平; 吴炎彪; 黄李波; 白傑
Original assignee: Zhejiang University City College ZUCC
Current assignee: Zhejiang University City College ZUCC
Priority date: 2022-08-05
Filing date: 2022-08-05
Publication date: 2022-12-02
Also published as: LU502843B1

Abstract

The invention relates to an automatic berthing unmanned ship based on intelligent traffic, which comprises a unmanned ship body, a support frame, a limiting locking mechanism and a water detection mechanism, wherein the support frame is arranged on the unmanned ship body; support frame fixed mounting is at unmanned ship hull bow, and spacing locking mechanism is installed to the support frame front end, and the pier heel post outside is provided with location box subassembly, and location box subassembly and spacing locking mechanism are the cooperation structure. The beneficial effects of the invention are: the connecting pieces are respectively arranged on the ship body and the wharf in a manner similar to a snap fastener, so that automatic mooring operation of the ship can be rapidly completed, manpower consumption is effectively reduced, and the automation rate of the unmanned ship is improved; the ratchet wheel and the pawl are arranged to cooperate to further lock the position of the hull of the unmanned ship, and the hull of the unmanned ship can be quickly changed from a parking state to a working state.

Description

Unmanned ship capable of automatically berthing based on intelligent traffic

Technical Field

The invention belongs to the field of unmanned ships, and particularly relates to an automatic berthing unmanned ship based on intelligent traffic.

Background

The intelligent transportation is based on intelligent transportation, technologies such as internet of things, cloud computing, internet, artificial intelligence, automatic control and mobile internet are fully applied in the transportation field, and traffic information is collected through advanced technologies, so that the purposes of managing and controlling and supporting all aspects of the transportation field such as traffic management, transportation, public trip and the like and the whole process of traffic construction management are achieved, and the regional analysis and control capability of a traffic system is improved.

Automated traffic is representative of intelligent traffic, such as unmanned vehicles, drones, unmanned ships, and the like. The existing unmanned ship is popularized and applied in the field of intelligent traffic due to the characteristics of carrying people, carrying objects and detecting environment. At present, an unmanned ship can be remotely controlled and can also be automatically navigated on the water surface according to a preset task by means of accurate satellite positioning and self sensing without remote control.

At present, the working environment of an unmanned ship is generally a static environment, such as a lake and other water areas without wind and waves, after the unmanned ship executes a task, an operator needs to quickly arrive at a wharf where the ship is moored at a certain time, and a rope of the ship is tied on a mooring post of the wharf in a manual assistance mode to complete the fixation of the ship; expends excessive manpower and cannot realize the automatic berthing of the ship quickly.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide an automatic berthing unmanned ship based on intelligent traffic.

The unmanned ship capable of automatically berthing based on intelligent traffic comprises an unmanned ship body, a support frame, a limiting locking mechanism and a water detection mechanism; the unmanned ship body is anchored at a wharf, the support frame is fixedly installed at the bow of the unmanned ship body, and the front end of the support frame is provided with a limiting locking mechanism; the outer wall of the unmanned ship body close to the bow is provided with a water detection mechanism; a positioning female buckle assembly is arranged on the outer side of the wharf bearing column, and the positioning female buckle assembly and the limiting locking mechanism are of a matched structure;

the limiting locking mechanism comprises a locking shell, an inner sliding block, a locking block, a connecting round rod and a driving piece; the locking shell is fixedly arranged at the front end of the support frame, a vertical sliding groove is formed in the center of the surface of one side of the locking shell, an inner sliding block is connected to the inside of the locking shell in a sliding mode, and a Z-shaped sliding groove is formed in the inner sliding block; the locking block is vertical, a connecting round rod is fixed on the side face of the locking block, and the connecting round rod horizontally penetrates through the vertical chute and the Z-shaped chute; one end of the inner sliding block is connected with the inner wall of the locking shell through a tension spring, the other end of the inner sliding block is connected with a driving rope, and the driving rope penetrates through the locking shell and is connected with the driving piece;

the water detection mechanism comprises a storage water tank, a water taking disc and an electric control gate valve, the storage water tank is arranged on the hull of the unmanned ship, and the water taking disc is arranged below the storage water tank through a rotating shaft; the water taking disc and the water storage tank are provided with coincident drain holes, and the drain holes are connected with the electric control gate valve.

Preferably, the method comprises the following steps: the driving piece comprises a shaft bracket, a rubber wheel, a driving shaft sleeve and a linkage belt; the shaft bracket is fixedly arranged on the upper end surface of the storage water tank, and the top end of the shaft bracket is provided with a driving shaft sleeve; the driving shaft sleeve comprises a plurality of rotatable shaft sleeves with different diameters, the rubber wheel is fixedly arranged at the position with the largest outer diameter of the driving shaft sleeve, and the linkage belt is connected with the driving shaft sleeve and a rotating shaft at the position of the water taking disc;

a pawl is arranged on the side wall of the driving shaft sleeve, and a ratchet wheel is fixedly arranged at the top of the shaft frame; the ratchet wheel is matched with the pawl.

Preferably, the method comprises the following steps: a floating plate is arranged in the storage water tank, a driving rod is arranged at one end, close to the shaft bracket, of the top of the floating plate, and a linkage rope is connected to the driving rod through a limiting ring; the linkage rope passes through the fixed pulley of the inner wall of the storage water tank and passes through the storage water tank to be connected with the tip end of the pawl.

Preferably, the method comprises the following steps: the bottom of the storage water tank is provided with a plurality of water outlet holes, the edges of the water outlet holes are provided with limiting rings leading to the interior of the storage water tank, sealing plugs are inserted into through holes formed by the water outlet holes and the limiting rings, and the sealing plugs are fixedly connected with the bottom surface of the floating plate; t type groove has been seted up to the well lower part of sealing plug, T type groove bottom and sealing plug bottom surface intercommunication, and the inside packing in T type groove has the sponge piece.

Preferably, the method comprises the following steps: the center of the bottom of the storage water tank is in an arch shape corresponding to the shape of the water taking disc, the upper half part of the water taking disc is positioned in the arch shape of the bottom of the storage water tank, and the lower half part of the water taking disc is immersed below the water surface; a plurality of circular arc plates are arranged in the water taking disc, and a water quality monitoring device is arranged at each circular arc plate.

Preferably, the method comprises the following steps: the female subassembly of detaining in location is including fixing the L type locating plate in the pier bottom heel post outside, and the top fixed mounting of L type locating plate has the flat board, and the quad slit has been seted up to dull and stereotyped distal end, the shape fit of locking piece and quad slit.

The intelligent traffic-based automatic berthing unmanned ship berthing method comprises the following steps of:

s1, observation position: the remote controller is used for controlling the unmanned ship body to run towards the wharf, the camera module at the top of the unmanned ship body is used for observing the relative position of the limiting locking mechanism and the positioning female buckle assembly, and the direction of the bow of the unmanned ship body is aligned to the positioning female buckle assembly;

s2, preparation for locking: controlling the hull of the unmanned ship to run towards the positioning female buckle assembly until the locking block is positioned right below the square hole;

s3, fixing the position: the driving device enables the rubber wheel to roll, the driving rope pulls the inner slide block, and the tension spring is stretched; the connecting round rod is extruded by the Z-shaped sliding groove to drive the locking block to vertically move upwards, the locking block rises and is inserted into the square hole, the fixing of the hull of the unmanned ship is completed, and the driving device stops;

s4, releasing fixation: when the hull of the unmanned ship needs to work again, the driving device is started, the electric control gate valve instantaneously controls the drain hole to be opened, water in the water taking disc enters the storage water tank, the floating plate rises, the linkage rope at one end of the pawl is pulled to descend, and the tip end of the pawl is separated from the ratchet wheel; in the recovery process of the tension spring, the inner sliding block is pulled by the tension spring to reset, the connecting round rod is extruded by the Z-shaped sliding groove, the locking block vertically moves downwards, the unmanned ship body is separated from the positioning female buckle assembly, and the position fixing is released.

Preferably, in step S4: along with the rising of floating plate, the sealing plug also rises, and when the sponge piece is higher than the top of spacing ring, the water in the storage water tank is discharged from T type groove after being adsorbed by the sponge piece, and the height of floating plate descends along with the water level in the storage water tank, and after the separation process of unmanned ship hull and location box assembly, the pointed end of pawl resets, and pawl and ratchet cooperate again.

Preferably, in step S4: and in the process that the floating plate drives the sealing plug to ascend or descend, the bottom end of the sealing plug is always inserted into the limiting ring.

The beneficial effects of the invention are:

1) The unmanned ship capable of automatically berthing based on intelligent traffic is provided with the limiting locking mechanism, the positioning female buckle assembly and other components, connecting pieces are respectively arranged at two positions of a ship body and a wharf in a manner similar to snap buckles aiming at the unmanned ship used under the conditions of static lakes and the like, when the unmanned ship after work is driven into the wharf, the automatic berthing operation of the ship can be rapidly completed, manual assistance of berthing operation on site is not needed, the manpower consumption is effectively reduced, and the automation rate of the unmanned ship is improved.

2) According to the intelligent traffic-based unmanned ship capable of automatically berthing, when the square hole is matched with the locking block, the ratchet wheel is matched with the pawl, so that the rotation direction of the driving shaft sleeve is unidirectional temporarily, the position of the hull of the unmanned ship is further locked, and the safety and the stability of the unmanned ship for automatically berthing are effectively improved.

3) According to the intelligent traffic-based unmanned ship capable of automatically berthing, disclosed by the invention, water reserved in the water taking disc instantly flows into the storage water tank through the work of the instantly-working electric control gate valve, the sealing plug rises along with the floating plate, the rotating direction of the driving shaft sleeve is not limited by the ratchet wheel and the pawl any more, and the rapid transition of the hull of the unmanned ship from a berthing state to a working state is realized; after the sealing plug rises for a certain distance, the sponge block leaks out of the top of the limiting ring, water in the storage water tank is adsorbed in the sponge block and flows out along the T-shaped path, the water drainage speed is reduced in an adsorption water drainage mode, the floating plate slowly falls, the time required by the pawl reset is long, and the pawl and the ratchet wheel are always separated in the process that the unmanned ship body is changed from the parking state to the working state.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a cross-sectional view of the limit locking mechanism of the initial state of the locking block;

FIG. 3 is a cross-sectional view of the limit locking mechanism when the locking block is lifted;

FIG. 4 is a sectional view showing a state where the water detecting mechanism and the driving member are connected;

FIG. 5 is an enlarged view of a portion of area A of FIG. 4;

FIG. 6 is an enlarged partial view of the area B in FIG. 4;

fig. 7 is a cross-sectional view of the positioning box assembly of the present invention.

Description of reference numerals: the unmanned ship hull 1, the support frame 2, the limiting locking mechanism 3, the water detection mechanism 4, the wharf 5, the positioning box assembly 6, the storage water tank 41, the water intake disc 42, the arc plate 43, the water quality monitoring device 44, the water drain hole 45, the electric control gate valve 46, the locking shell 31, the vertical chute 32, the inner slide block 33, the Z-shaped chute 34, the locking block 35, the connecting round rod 36, the driving rope 37, the tension spring 38, the driving piece 30, the shaft bracket 301, the rubber wheel 302, the driving shaft sleeve 303, the linkage belt 304, the ratchet 305, the pawl 306, the floating plate 411, the driving rod 412, the limiting ring 413, the fixed pulley 414, the linkage rope 415, the water outlet hole 421, the limiting ring 422, the sealing plug 423, the T-shaped groove 424, the sponge block 425, the L-shaped positioning plate 61, the flat plate 62 and the square hole 63.

Detailed Description

The present invention will be further described with reference to the following examples. The following examples are set forth merely to aid in the understanding of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications can be made to the present invention without departing from the principle of the invention, and those modifications and modifications also fall within the scope of the appended claims.

An embodiment is provided, and referring to fig. 1-7, an unmanned ship capable of automatically berthing based on intelligent traffic comprises an unmanned ship body 1 capable of being used for carrying people, goods or monitoring environment, a support frame 2 is fixedly installed at a position, close to the bow, of the unmanned ship body 1, a limiting locking mechanism 3 for automatic berthing on static water is installed at one side of the top of the support frame 2, the unmanned ship body 1 berths at one side of a wharf 5, and the wharf 5 is a wharf consisting of a bearing column and a traffic board.

As shown in fig. 1, a water detection mechanism 4 for monitoring a water source in an operation environment is arranged at a position close to the outer wall of a ship bow, a positioning female buckle assembly 6 is arranged at the outer side position of a bearing column at the bottom of a wharf 5, and the positioning female buckle assembly 6 and the limiting locking mechanism 3 are in a matching structure; the top of the unmanned ship body 1 is provided with a camera module, and the specific position condition of the unmanned ship body 1 during berthing can be clearly observed through the picture captured by a camera, so that background wireless operators can conveniently operate the unmanned ship;

referring to fig. 2, the water detection mechanism 4 includes a storage water tank 41, a water intake disc 42, an arc plate 43, a water quality monitoring device 44, a water discharge hole 45 and an electric control gate valve 46, the storage water tank 41 is installed in front of the unmanned ship hull 1 through a fixing frame, the cross section of the storage water tank 41 is in a shape of Chinese character 'ao', the water intake disc 42 is connected to the center of the inside of the storage water tank 41 through a rotating shaft, the arc plates 43 are installed on the inner side wall of the water intake disc 42 at equal intervals in the circumferential direction, the water quality monitoring device 44 is fixedly installed at the lowest part of the inner concave surface of each arc plate 43, the water discharge hole 45 is formed on one side wall of the water intake disc 42 and the storage water tank 41, and the electric control gate valve 46 is installed on the side wall of the storage water tank 41 and at the position of the water discharge hole 45; water quality monitoring facilities 44 monitoring facilities adopts the most common portable water quality analysis appearance of market use, and the lateral wall of water intaking disc 42 and the concave surface department in arc plate 43 form the retaining cavity, and unmanned ship hull 1 is at the in-process of traveling, and the arc plate 43 in the water intaking disc 42 will be in the water contact at work waters place, and partial water will flow to the retaining cavity, and the water quality monitoring facilities 44 that are located the retaining cavity carries out real-time supervision to the quality of water situation.

The limiting locking mechanism 3 comprises a locking shell 31, a vertical chute 32, an inner slide block 33, a Z-shaped chute 34, a locking block 35, a connecting round rod 36, a driving rope 37, a tension spring 39 and a driving piece 30, wherein the locking shell 31 is fixedly installed on one side of the support frame 2 through bolts, the vertical chute 32 is formed in the middle of the locking shell 31, the inner slide block 33 is connected to the inside of the locking shell 31 in a sliding mode, one end of the inner slide block 33 is fixed to the inner wall of the locking shell 31 through the tension spring 39, the driving rope 37 is embedded into the other end of the inner slide block 33, one end of the driving rope 37 penetrates through the locking shell 31 and is connected with the driving piece 30, the Z-shaped chute 34 is formed in the inside of the inner slide block 33, the locking block 35 is sleeved on the outer wall of the locking shell 31, the connecting round rod 36 is fixedly installed at the lower position of the inner wall of the locking block 35, and the connecting round rod 36 sequentially penetrates through the vertical chute 32 and the Z-shaped chute 34; further, the invention aims at the water area environment including the static water areas such as lakes and the like, and the influence caused by the wave factors of the water surface can be eliminated; in the initial position of the limiting locking mechanism 3, the horizontal height of the locking block 35 is lower than the overall height of the positioning female buckle assembly 6.

Referring to fig. 1 and 3, the driving member 30 includes a shaft bracket 301, a rubber wheel 302, a driving shaft sleeve 303 and a linkage belt 304, the shaft bracket 301 is fixedly mounted on the upper end surface of the storage water tank 41 through bolts, the top of the shaft bracket 301 is provided with the driving shaft sleeve 303, the driving shaft sleeve 303 is formed by combining shaft sleeves with different diameters and capable of rotating, the rubber wheel 302 is fixedly mounted at the maximum outer diameter area of the driving shaft sleeve 303, the linkage belt 304 is mounted at the central position of the outer wall of the driving shaft sleeve 303, the other end of the linkage belt 304 is connected with the outer wall of the rotating shaft, the positioning female buckle assembly 6 includes an L-shaped positioning plate 61 fixed at the outer side position of a bearing column at the bottom of the wharf 5 through expansion bolts, a flat plate 62 is fixedly mounted at the top of the L-shaped positioning plate 61, and a square hole 63 is formed at the top of the flat plate 62; when the unmanned ship body 1 is controlled to enter a position ten meters ahead of a wharf 5 by a remote controller, a backstage operator holds the remote controller for operation, and controls the unmanned ship body 1 to enter the position ten meters ahead of the wharf 5 by the remote controller, the camera module observes the position of the limiting locking mechanism 3 relative to the positioning female buckle assembly 6, when the center position of the bow of the unmanned ship body 1 is aligned with the positioning female buckle assembly 6, the operator controls the unmanned ship body 1 to travel towards the positioning female buckle assembly 6, after the unmanned ship body 1 reaches the corresponding position, the rubber wheel 302 rolls on the lower end face of the L-shaped positioning plate 61, the rolling driving force is the mutual friction force between the rubber wheel and the positioning female buckle assembly, the rubber wheel 302 rotates to drive the driving rope 37 to wind on the outer wall of the driving shaft sleeve 303, so that the inner sliding block 33 is pulled by the other end of the driving rope 37 to slide on the inner wall of the locking shell 31, the Z-shaped chute applies vertical upward extrusion force to the connecting round rod 36, the extrusion force drives the connecting round rod 36 and the locking block 35 to ascend together, the locking block 35 ascends into the square hole 63, and the locking block 63, and the unmanned ship can realize the rapid parking effect of the unmanned ship body 1.

Referring to fig. 3 and 4, the driving member 30 further includes a pawl 306 at an end surface of a side wall of the driving sleeve 303, a ratchet 305 is fittingly installed at an inner side position of the pawl 306, the ratchet 305 is fixed at an end surface of a top side of the shaft frame 301 by electric welding, and the ratchet 305 is fittingly engaged with the pawl 306 so that a rotation direction of the driving sleeve 303 temporarily has a unidirectional property; when square hole 63 is fully engaged with lock block 30, the locking of ratchet 305 and pawl 306 further locks the position of drone hull 1.

Referring to fig. 3 to 6, a floating plate 411 is installed on the inner wall of the storage water tank 41, a driving rod 412 is installed at one end of the top of the floating plate 411, which is close to the shaft bracket 301, a linkage rope 415 is connected to the driving rod 412 through a limiting ring 413, the position for changing the force direction of the fixed pulley 414 is installed on the inner wall of the storage water tank 41, the outer wall of the fixed pulley 414 is wrapped on the linkage rope 415, and the other end of the linkage rope 415 passes through the storage water tank 41 and is connected to the pawl 306; during the specific operation, in the automatic parking operation process, the rubber wheel 302 rotates to drive the water taking disc 42 to rotate together under the action of the linkage belt 304, in the design process, the diameter of the driving shaft sleeve 303 is far larger than that of the rotating shaft, so that the rotating angle a of the driving shaft sleeve 303 during the operation is smaller than the rotating angle b of the water taking disc 42 during the operation, water stored in the water storage cavity of the water taking disc 42 during the rotation can be deflected to one side of the water drainage hole 45, the positions of the two water drainage holes 45 are overlapped, and the switch is controlled by the electric control gate valve 46.

Referring to fig. 2 to 6, the bottom of the storage water tank 41 is stacked to form a water outlet hole 421, a limiting ring 422 is fixedly mounted at the bottom of the inner wall of the storage water tank 41 and is located right above the water outlet hole 421, sealing plugs 423 are inserted into the water outlet hole 421 and the limiting ring 422, T-shaped grooves 424 are formed in the sealing plugs 423, and sponge blocks 425 are filled in the T-shaped grooves 424; when the unmanned ship body 1 needs to work in a water area again, the electric control gate valve 46 is controlled to work in the background, the water storage cavity and the storage water tank 41 are communicated through the two water discharge holes 45, water in the water storage cavity enters the storage water tank 41, the floating plate 411 rises due to buoyancy, the floating plate 411 drives the driving rod 412 and the limiting ring 413 to pull the linkage rope 415, the other end of the linkage rope 415 descends, the linkage rope 415 pulls the pawl 306 to deflect and separate from the ratchet 305, and at the moment, an operator controls the unmanned ship body 1 to separate from the positioning female buckle assembly 6 through remote control equipment, so that the unmanned ship body 1 can be conveniently converted into a working state from a parking state; the electric control gate valve 46 and the power supply battery of the water quality monitoring device 44 are arranged at the top of the unmanned ship body 1, and a solar panel is matched and assembled to charge the power supply battery.

Referring to fig. 6, as the gate control valve 46 works instantly, the two rows of water holes 45 communicate water retained in the instant water storage chamber to rapidly flow into the storage water tank 41, in the process, the sealing plug 423 rises along with the rising of the floating plate 411, but the rising height is in a range that the sealing plug 423 cannot be separated from the top of the limit ring 422, when the sealing plug 423 rises for a certain distance, the sponge block 425 leaks out of the top of the limit ring 422, at the moment, part of the inflowing water contacts with the sponge block 425, the sponge block 425 adsorbs the water in the storage water tank and flows out of the storage water tank 41 along the T-shaped groove 424; the relative speed of the water drainage can be effectively reduced by the adsorption water drainage mode, and the pawl 306 and the ratchet 305 are always separated when the unmanned ship body 1 is changed from the parking state to the working state, so that the rapid change of the working state of the unmanned ship body 1 is ensured.

Claims

1. An automated berthing unmanned ship based on intelligent traffic, comprising: the unmanned ship comprises an unmanned ship body (1), a support frame (2), a limiting locking mechanism (3) and a water detection mechanism (4); the unmanned ship body (1) is anchored at a wharf (5), the support frame (2) is fixedly installed at the bow of the unmanned ship body (1), and the front end of the support frame (2) is provided with a limiting locking mechanism (3); the outer wall of the unmanned ship body (1) close to the bow is provided with a water detection mechanism (4); a positioning female buckle assembly (6) is arranged on the outer side of the bearing column of the wharf (5), and the positioning female buckle assembly (6) and the limiting locking mechanism (3) are of a matched structure;

the limiting locking mechanism (3) comprises a locking shell (31), an inner sliding block (33), a locking block (35), a connecting round rod (36) and a driving piece (30); the locking shell (31) is fixedly arranged at the front end of the support frame (2), a vertical sliding groove (32) is formed in the center of the surface of one side of the locking shell (31), an inner sliding block (33) is connected to the inside of the locking shell (31) in a sliding mode, and a Z-shaped sliding groove (34) is formed in the inner sliding block (33); the locking block (35) is vertical, a connecting round rod (36) is fixed on the side surface of the locking block (35), and the connecting round rod (36) horizontally penetrates through the vertical sliding chute (32) and the Z-shaped sliding chute (34); one end of the inner sliding block (33) is connected with the inner wall of the locking shell (31) through a tension spring (38), the other end of the inner sliding block (33) is connected with a driving rope (37), and the driving rope (37) penetrates through the locking shell (31) and is connected with the driving piece (30);

the water detection mechanism (4) comprises a storage water tank (41), a water taking disc (42) and an electric control gate valve (46), the storage water tank (41) is installed on the unmanned ship body (1), and the water taking disc (42) is installed below the storage water tank (41) through a rotating shaft; coincident drain holes (45) are formed in the water taking disc (42) and the storage water tank (41), and the drain holes (45) are connected with an electric control gate valve (46).

2. The intelligent traffic-based automatically-berthing unmanned vessel of claim 1, characterized in that: the driving piece (30) comprises a shaft bracket (301), a rubber wheel (302), a driving shaft sleeve (303) and a linkage belt (304); the shaft bracket (301) is fixedly arranged on the upper end surface of the storage water tank (41), and the top end of the shaft bracket (301) is provided with a driving shaft sleeve (303); the driving shaft sleeve (303) comprises a plurality of rotatable shaft sleeves with different diameters, the rubber wheel (302) is fixedly arranged at the position with the largest outer diameter of the driving shaft sleeve (303), and the linkage belt (304) is connected with the rotating shaft at the position of the driving shaft sleeve (303) and the water taking disc (42);

a pawl (306) is installed on the side wall of the driving shaft sleeve (303), and a ratchet wheel (305) is fixedly installed at the top of the shaft frame (301); ratchet (305) cooperates with pawl (306).

3. The intelligent traffic-based, automatically berthing unmanned vessel of claim 2, characterized by: a floating plate (411) is arranged in the storage water tank (41), a driving rod (412) is installed at one end, close to the shaft bracket (301), of the top of the floating plate (411), and a linkage rope (415) is connected to the driving rod (412) through a limiting ring (413); the linkage rope (415) passes through a fixed pulley (414) on the inner wall of the storage water tank (41), and the linkage rope (415) passes through the storage water tank (41) to be connected with the tip of the pawl (306).

4. The intelligent traffic-based automatically-berthing unmanned vessel of claim 1, characterized in that: a plurality of water outlet holes (421) are formed in the bottom of the storage water tank (41), limiting circular rings (422) leading to the interior of the storage water tank (41) are arranged on the edges of the water outlet holes (421), sealing plugs (423) are inserted into through holes formed by the water outlet holes (421) and the limiting circular rings (422), and the sealing plugs (423) are fixedly connected with the bottom surface of the floating plate (411); t type groove (424) have been seted up to the well lower part of sealing plug (423), and T type groove (424) bottom communicates with sealing plug (423) bottom surface, and the inside in T type groove (424) is filled has sponge piece (425).

5. The intelligent traffic-based automatically-berthing unmanned vessel of claim 1, characterized in that: the center of the bottom of the storage water tank (41) is an arch corresponding to the shape of the water taking disc (42), the upper half part of the water taking disc (42) is positioned in the arch at the bottom of the storage water tank (41), and the lower half part of the water taking disc (42) is immersed below the water surface; a plurality of circular arc plates (43) are arranged in the water taking disc (42), and a water quality monitoring device (44) is arranged at each circular arc plate (43).

6. The intelligent traffic-based automatically-berthing unmanned vessel of claim 1, characterized in that: female knot subassembly of location (6) is including fixing L type locating plate (61) in the pier (5) bottom heel post outside, and the top fixed mounting of L type locating plate (61) has dull and stereotyped (62), and quad slit (63) have been seted up to the distal end of dull and stereotyped (62), the shape fit of lock block (35) and quad slit (63).

7. The method for berthing an unmanned ship for automatic berthing based on intelligent transportation of claim 1, comprising the steps of:

s1, observation position: the remote controller is used for controlling the unmanned ship body (1) to run towards the wharf (5), the camera module at the top of the unmanned ship body (1) is used for observing the relative position of the limiting locking mechanism (3) and the positioning female buckle assembly (6), and the direction of the bow of the unmanned ship body (1) is aligned to the positioning female buckle assembly (6);

s2, preparing locking: controlling the hull (1) of the unmanned ship to travel towards the positioning female buckle assembly (6) until the locking block (35) is positioned under the square hole (63);

s3, fixing the position: the driving device (30) enables the rubber wheel (302) to roll, the driving rope (37) pulls the inner sliding block (33), and the tension spring (38) stretches; the connecting round rod (36) is extruded by the Z-shaped sliding groove (34) to drive the locking block (35) to vertically move upwards, the locking block (35) ascends and is inserted into the square hole (63) to complete the fixation of the unmanned ship body (1), and the driving device (30) stops;

s4, releasing fixation: when the unmanned ship body (1) needs to work again, the driving device (30) is started, the electric control gate valve (46) instantaneously controls the opening of the water discharging hole (45), water in the water taking disc (42) enters the storage water tank (41), the floating plate (411) rises, the linkage rope (415) at one end of the pawl (306) is pulled to descend, and the tip of the pawl (306) is separated from the ratchet wheel (305); in the recovery process of the tension spring (38), the inner sliding block (33) is pulled by the tension spring (38) to reset, the connecting round rod (36) is extruded by the Z-shaped sliding groove (34), the locking block (35) vertically moves downwards, the unmanned ship body (1) is separated from the positioning female buckle assembly (6), and the position fixing is released.

8. The mooring method for an intelligent transportation-based automatically-moored unmanned ship according to claim 7, wherein in step S4: along with the rising of floating plate (411), sealing plug (423) also rises, when sponge piece (425) is higher than the top of spacing ring (422), water in storage water tank (41) is discharged from T type groove (424) after being adsorbed by sponge piece (425), the height of floating plate (411) descends along with the water level in storage water tank (41), after unmanned ship hull (1) and location box-and-spigot subassembly (6) separation process, the pointed end of pawl (306) resets, pawl (306) and ratchet (305) are relegated.

9. The mooring method for an intelligent transportation-based automatically-moored unmanned ship according to claim 8, wherein in step S4: in the process that the floating plate (411) drives the sealing plug (423) to ascend or descend, the bottom end of the sealing plug (423) is inserted into the limiting ring (422) all the time.